CN109848842B - Sand changing process of automatic sand changing table - Google Patents
Sand changing process of automatic sand changing table Download PDFInfo
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- CN109848842B CN109848842B CN201910241126.0A CN201910241126A CN109848842B CN 109848842 B CN109848842 B CN 109848842B CN 201910241126 A CN201910241126 A CN 201910241126A CN 109848842 B CN109848842 B CN 109848842B
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Abstract
The invention discloses a sand changing process of an automatic sand changing table, which comprises a detecting step, a sand paper tearing detecting step, a sand paper adhering step and a sand paper adhering detecting step. The sand changing process of the automatic sand changing table can synchronously carry out automatic detection, automatic sand tearing and automatic sand sticking on the sand paper of the four-head grinding head, and has high detection accuracy.
Description
Technical Field
The invention relates to a sand replacing process of an automatic sand replacing table.
Background
In China, the robot is still in a state of being started in the aspect of metal grinding and polishing, companies which start earlier concentrate technical strength on research and development of related matched products of grinding and polishing of small hardware at present, and common workstations are all applications of clamping the small hardware to an abrasive belt machine or a polishing machine for grinding and polishing through the robot. In the domestic market, the requirements for grinding and polishing of large-sized workpieces are not inferior to the requirements for small hardware, products are concentrated in the fields of automobile parts, engineering machinery, aerospace, die, bathroom and the like, compared with the large batch of small hardware, the product added value of the large-sized workpieces is higher, the large-sized workpieces have the purchasing power of high-end and medium-end workstations, and the large-sized workpieces are classified into high-end and medium-end customer groups. For such a workstation, the basic configuration is a robot, a polishing head, a workbench (fixed or rotary), a tool changing table and a sand changing table, wherein the tool changing table is used for automatically switching tools in different processes of the same product or different processes of different products, and the sand changing table is used for automatically replacing sand paper for products requiring sand paper in the polishing process.
At present, the sand changing process of the automatic sand changing table on the market in China basically carries out automatic change of abrasive paper for a single polishing head, and cannot synchronously change a plurality of polishing head abrasive papers; aiming at automatic abrasive paper tearing, the principle is also a pneumatic pressing mode, a pressing mechanism is only in pressing block and other forms, the pressing mechanism is not in pressing needle form, and the angle of the abrasive disc and the angle of the abrasive paper are not considered in the design process.
Moreover, trade sand table (the automatic mechanism of gluing abrasive paper) ubiquitous abrasive paper on the market and be stained with and glue the phenomenon, the condition of once only gluing 2 ~ 3 abrasive paper is very general, and is the bonding of the abrasive paper of single head, in function and effect, can't satisfy customer's user demand. Moreover, at present, the abrasive paper tearing success rate of the abrasive paper tearing mechanism of the sand changing table on the surface can reach 90% less and less, and the phenomena that the abrasive paper is blocked and torn so as to influence the adhesion of the old abrasive paper generally exist.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides the sand replacing process of the automatic sand replacing table, can synchronously perform automatic detection, automatic sand tearing and automatic sand adhering on sand paper aiming at a four-head grinding head, and has high detection accuracy.
The technical scheme for realizing the purpose is as follows: a sand changing process of an automatic sand changing table comprises a base, a box body, a dustproof cover, a sand paper sticking mechanism, a sand paper detection device, a sand paper tearing mechanism and a sand receiving box, wherein the box body is arranged on the base; the dustproof cover is connected to the top end of the box body in an openable and closable manner; the sand paper detection device and the sand paper sticking mechanism are respectively arranged on the sand sticking mounting seat; the top end of the front side plate of the box body is provided with a sand pulling mounting seat, and the sand pulling mounting seat is positioned right in front of the sand sticking mounting seat; the sand tearing mechanism is arranged on the sand tearing mounting seat, and the sand receiving box is detachably arranged on the front side of the sand tearing mounting seat; the sand paper detection device comprises four groups of sensors which are sequentially arranged from left to right, and each group of sensors comprises a detection sensor and a color sensor; the sand replacement process is characterized by comprising the following steps:
s1, detection step: the automatic sand changing table waits for receiving sand paper changing signals of the robot, after the sand paper changing signals are received, the dustproof cover is synchronously opened in the running process of the robot, the robot clamps the four-head polishing head to the sand paper detection device for sand paper detection, the color sensors of the four groups of sensors correspondingly judge whether the sand paper on the four-head polishing head is old or not, after the sand paper is judged, the signals are transmitted to the robot through bus communication for the next process, and if the sand paper does not need to be torn after the sand paper is judged, the robot automatically runs to the next process; if the abrasive paper needs to be replaced after judgment, the robot operates the four-head polishing head to the abrasive paper tearing mechanism to perform 4-head synchronous abrasive paper tearing actions;
s2, tearing the abrasive paper: the robot operates the four-head polishing head to the sand paper tearing mechanism to tear sand paper; the sand tearing mechanism comprises four sand tearing assemblies which are sequentially arranged from left to right, each sand tearing assembly comprises an installation sealing plate, a sand tearing pressing plate, a sand tearing cylinder, a sand tearing push plate, a contact pin installation block and a pressing cylinder, the installation sealing plate is fixed on the sand tearing installation seat, the sand tearing pressing plate is arranged above the rear part of the installation sealing plate, and the sand tearing push plate is arranged on the installation sealing plate; the sand pulling cylinder and the pressing cylinder are respectively fixed at the bottom of the mounting sealing plate; the sand pulling cylinder is connected with the sand pulling push plate and drives the sand pulling push plate to move forwards and backwards; the contact pin mounting block is arranged between the mounting sealing plate and the sand pulling pressing plate and is connected with the sand pulling push plate; the front end of the contact pin mounting block is provided with a plurality of contact pins side by side, and the front ends of the contact pins are conical; the pressing cylinder is connected with the contact pin mounting block and drives the contact pin mounting block to move up and down; the contact pins of the four sand tearing assemblies are driven by the sand tearing air cylinders and the pressing air cylinders to be correspondingly inserted into and pressed on the bonding surfaces of the sand discs and the sand paper of the four-head grinding head one by one, and the robot controls the four-head grinding head to rotate clockwise at a slow speed in the process of tearing off the sand paper, so that the sand paper is torn off in an auxiliary manner;
s3, tearing the abrasive paper: after the abrasive paper is torn off, the robot operates to the abrasive paper detection device again to perform abrasive paper detection, and if the detection sensor detects that the abrasive paper at any one end of the four-head polishing head is not completely torn off, the step S2 is returned to execute the abrasive paper tearing step; if the abrasive paper on the four-head polishing head is detected to be completely torn off, the process of adhering the abrasive paper is executed;
s4, a sand paper sticking step: the robot moves the four-head polishing head to the sand paper sticking mechanism to perform sand paper sticking operation, the sand paper sticking mechanism comprises two groups of sand paper placing assemblies which are arranged in tandem, each group of sand paper placing assemblies comprises a sand paper separating and mounting plate and four sand paper storage grooves, and the sand paper separating and mounting plate is embedded into the top end of the sand paper sticking mounting seat; the four sand paper storage tanks are sequentially arranged on the sand paper separation mounting plate from left to right, a sand discharge disc is arranged in each sand paper storage tank, a sand ejecting cylinder is arranged at the bottom of each sand paper storage tank, and the sand ejecting cylinder drives the sand discharge disc to move up and down; when the robot runs to the sand paper sticking mechanism, the four-head polishing heads are located right above the sand paper placing discs in the four sand paper storage grooves in a one-to-one correspondence mode, the distance between the four-head polishing heads and the sand paper placing discs is 5mm, the robot sends a sand paper sticking instruction to the sand paper ejecting cylinder, the sand paper placing discs are driven by the corresponding sand ejecting cylinders to synchronously ascend to a sand paper sticking position for sticking the sand paper, the robot moves downwards after sticking is completed, and redundant sand paper is removed by the sand sticking preventing mechanism;
s5, sand sticking paper detection: after the sand paper is pasted, the robot operates to the sand paper detection device again to detect the sand paper, and if the detection sensor detects that any one of the four grinding heads is not pasted with the sand paper, the step S4 is returned to execute the step of pasting the sand paper; if the sand paper on the four-head grinding head is detected to be completely stuck, the subsequent process is carried out.
In the sand changing process of the automatic sand changing table, four vertically arranged guide columns are uniformly distributed in each sand paper storage tank; a sand ejecting plate is horizontally arranged in each sand paper storage tank, the sand ejecting plate is positioned among the four guide columns, and a sand placing disc in each sand paper storage tank is positioned right above the corresponding sand ejecting plate; the sand ejecting cylinder is connected with the corresponding sand ejecting plate; the sand ejection cylinder drives the sand ejection plate to move up and down, and the sand ejection plate drives the sand discharge disc to move up and down in the middle of the four guide columns; and the four sand ejection air cylinders corresponding to each group of sand paper placing assemblies synchronously move.
In the sand changing process of the automatic sand changing table, back fluff sand paper with the same mesh number is placed in the four sand paper storage grooves of each group of sand paper placing assemblies;
and the mesh number of the sandpaper placed in the four sandpaper storage grooves of one group of the sandpaper placement assemblies is different from the mesh number of the sandpaper placed in the four sandpaper storage grooves of the other group of the sandpaper placement assemblies.
In the sand changing process of the automatic sand changing table, the sand pulling cylinder is provided with the throttle valve, and the sand pulling cylinders of the four sand pulling assemblies move synchronously; and the pressing air cylinders of the four sand tearing assemblies move synchronously.
The sand changing process of the automatic sand changing table is characterized in that the sand paper detection device is arranged between the two groups of sand paper placing assemblies.
In the sand replacing process of the automatic sand replacing table, the left side and the right side of the sand receiving box are respectively provided with the handle.
The sand replacing process for the automatic sand replacing table comprises the following steps that a magnetic valve mounting seat is arranged in a base, and an electromagnetic valve group is arranged on the magnetic valve mounting seat.
In the sand-changing process of the automatic sand-changing table, all the sand-pushing cylinders of the sand-sticking paper mechanism are located in the box body, and the front side of the box body is provided with the split door.
The automatic sand changing table sand changing process is characterized in that the rear end of the dustproof cover is connected to the rear portion of the top end of the box body through a hinge, a flip cylinder is arranged in the box body, and an output shaft of the flip cylinder is connected with the dustproof cover through a fisheye joint and a locking nut.
The sand changing process of the automatic sand changing table can synchronously carry out automatic detection, automatic sand tearing and automatic sand sticking on the sand paper of the four-head grinding head, and has high detection accuracy.
Drawings
FIG. 1 is a perspective view of an automatic sand-changing table employed in the sand-changing process of the present invention;
FIG. 2 is a top view of the automated sand table;
FIG. 2a is a cross-sectional view taken along line A-A of FIG. 2;
FIG. 2B is a partial enlarged view of portion B of FIG. 2;
FIG. 2C is an enlarged view of a portion C of FIG. 2;
FIG. 3 is a top view of the sandpaper tearing mechanism;
FIG. 3a is a bottom view of the sandpaper tearing mechanism;
FIG. 3b is a side view of the sandpaper tearing mechanism;
FIG. 3c is a schematic diagram of the construction of a single sandpaper tearing assembly of the sandpaper tearing mechanism;
FIG. 4 is a diagram illustrating a state of the automatic sand-changing table in the process of tearing sandpaper
FIG. 5 is a diagram illustrating a state of adhering sandpaper in the sand-changing process of the automatic sand-changing table according to the present invention.
Detailed Description
In order that those skilled in the art will better understand the technical solution of the present invention, the following detailed description is given with reference to the accompanying drawings:
referring to fig. 1 to 3c, in the preferred embodiment of the present invention, the automatic sand-changing table includes a base 1, a box 2, a dust-proof cover 3, a sand paper sticking mechanism 5, a sand paper detecting device 7, a sand paper tearing mechanism 6 and a sand receiving box 4. The box body 2 is arranged on the base 1; a magnetic valve mounting seat 11 is arranged in the base 1, and an electromagnetic valve group 12 is arranged on the magnetic valve mounting seat 11. The dustproof cover 3 is connected to the top end of the box body 2 in an openable and closable manner; the rear end of shield 3 passes through hinge 31 to be connected at the rear portion on the top of box 2, is provided with flip cylinder 34 in the box 2, and flip cylinder 34's output shaft passes through fisheye joint 32 and lock nut 33 and links to each other with shield 3. A sand-sticking mounting seat 21 is arranged at the top end of the box body 2, and the sand paper detection device 7 and the sand-sticking paper mechanism 5 are respectively arranged on the sand-sticking mounting seat 21; the top end of the front side plate of the box body 2 is provided with a sand pulling mounting seat 22, and the sand pulling mounting seat 22 is positioned right in front of the sand sticking mounting seat 21; the sand paper tearing mechanism 6 is arranged on the sand pulling mounting seat 22. The sand receiving box 4 is detachably arranged on the front side of the sand pulling mounting seat 22; the right and left sides of the sand receiving box 4 are provided with handles 41, respectively.
The sand paper sticking mechanism 5 comprises two groups of sand paper placing components which are arranged in tandem, each group of sand paper placing component comprises a sand paper separating and mounting plate 51 and four sand paper storage grooves 52, and the sand paper separating and mounting plate 51 is embedded into the top end of the sand paper mounting seat 21; the four sandpaper storage grooves 52 are sequentially arranged on the sandpaper separation mounting plate 51 from left to right; four vertically arranged guide columns 53 are uniformly distributed in each sand paper storage groove 52; a sand ejecting plate 55 is horizontally arranged in each sand paper storage tank 51, the sand ejecting plate 55 is positioned among the four guide columns 53, a sand discharging disc 56 is arranged in each sand paper storage tank 51, and the sand discharging disc 56 is positioned right above the corresponding sand ejecting plate 55; a sand ejecting cylinder 54 is arranged at the bottom of each sand paper storage tank 51; the sand ejecting air cylinders 54 are connected with the corresponding sand ejecting plates 55; the sand ejection cylinder 54 drives the sand ejection plate 55 to move up and down, and the sand ejection plate 55 drives the sand discharge disc 56 to move up and down in the middle of the four guide columns 53; the four sand ejecting cylinders 54 corresponding to each group of sand paper placing assemblies move synchronously; back fluff sand paper with the same mesh number is placed in the four sand paper storage grooves 52 of each group of sand paper placement assemblies; and the mesh number of the abrasive paper placed in the four abrasive paper storage grooves of one group of abrasive paper placement component is different from the mesh number of the abrasive paper placed in the four abrasive paper storage grooves of the other group of abrasive paper placement component, so that sand sticking switching of the abrasive paper with two mesh numbers can be realized. All the sand ejection cylinders 54 of the sand-binding paper mechanism are positioned in the box body 2, and the front side of the box body 2 is provided with a split door, so that the parts in the box body 2 can be conveniently overhauled.
Sandpaper detection device 7 sets up between two sets of sandpaper placement component, and sandpaper detection device includes four groups of sensors that set gradually from a left side to the right side, and every group sensor all includes a detection sensor 71 and a color sensor 72. The color sensor 72 is used to determine whether the sandpaper is new or old. The detection sensor 71 is used for detecting whether the abrasive paper tearing mechanism 6 tears clean abrasive paper.
The sand tearing mechanism 6 comprises four sand tearing assemblies which are sequentially arranged from left to right, each sand tearing assembly comprises an installation sealing plate 61, a sand pulling pressing plate 62, a sand pulling cylinder 63, a sand pulling push plate 64, a pin installation block 65 and a pressing cylinder 66, the installation sealing plate 61 is fixed on the sand pulling installation seat 22, the sand pulling pressing plate 62 is arranged at the rear upper part of the installation sealing plate 61, and the sand pulling push plate 64 is arranged on the installation sealing plate 61; the sand pulling cylinder 63 and the pressing cylinder 66 are respectively fixed at the bottom of the mounting sealing plate 61; the sand pulling cylinder 63 is connected with the sand pulling push plate 64, and the sand pulling cylinder 63 drives the sand pulling push plate 64 to move back and forth; the pin mounting block 65 is arranged between the mounting seal plate 61 and the sand pulling press plate 62, and the pin mounting block 65 is connected with the sand pulling push plate 64; the front ends of the contact pin mounting blocks 65 are provided with a plurality of contact pins 67 side by side, and the front ends of the contact pins 67 are conical, so that when the sand pulling cylinder 63 drives the sand pulling push plate 64 to move forwards and backwards, the contact pin mounting blocks 65 also move forwards and backwards to drive the contact pins 67 to move forwards and backwards; the pressing air cylinder 66 is connected with the contact pin mounting block 65, and the pressing air cylinder 66 drives the contact pin mounting block 65 to move up and down so as to drive the contact pin 67 to move up and down; the sand pulling cylinders 63 of the four sand tearing assemblies move synchronously; the hold-down cylinders 66 of the four sand ripper assemblies move in unison. The sand dragging cylinder 63 is provided with a throttle valve 68.
When the automatic sand changing table is used, each air cylinder is communicated with the robot 100,
the invention relates to a sand replacing process of an automatic sand replacing table, which comprises the following steps of:
s1, detection step: the automatic sand changing table waits for receiving a sand paper changing signal of the robot 100, after the sand paper changing signal is received, the dustproof cover 3 is synchronously opened in the running process of the robot, the robot 100 clamps the four-head polishing head 200 to the sand paper detection device 7 for sand paper detection, the color sensors 72 of the four groups of sensors correspondingly judge whether the sand paper on the four-head polishing head 200 is old or not one by one, after the judgment, the signal is transmitted to the robot 100 through bus communication to carry out the next process, and if the sand paper does not need to be torn after the judgment, the robot 100 automatically runs to the next process; if the sand paper needs to be replaced after the judgment, the robot 100 operates the four-head polishing head 200 to the sand paper tearing mechanism to perform 4-head synchronous sand paper tearing actions;
s2, tearing the abrasive paper: referring to fig. 4, the robot 100 moves the four-head polishing head 200 to the paper tearing mechanism 6 to tear the abrasive paper; the contact pins 67 of the four sand tearing assemblies are driven by the sand tearing air cylinders 63 and the pressing air cylinders 66 to be correspondingly inserted into and pressed on the adhering surfaces of the sand discs and the sand paper of the four-head sanding head 200 one by one, and the robot 100 controls the four-head sanding head 200 to rotate clockwise at a slow speed in the process of tearing off the sand paper, so that the sand paper is torn off in an auxiliary manner;
s3, tearing the abrasive paper: after the sandpaper is torn off, the robot 100 will move to the sandpaper detection device 7 again to perform sandpaper detection, and if the detection sensor 71 detects that the sandpaper at any one end of the four-head sanding head 200 is not completely torn off, the step S2 is returned to perform the step of tearing the sandpaper; if the abrasive paper on the four-head polishing head 200 is detected to be completely torn off, the process of adhering the abrasive paper is executed;
s4, a sand paper sticking step: referring to fig. 5, the robot 100 moves the four-head polishing head 200 to the sand-paper sticking mechanism 5 for sand paper sticking, when the robot 100 moves to the sand-paper sticking mechanism 5, the four-head polishing head 200 is located right above the sand-placing discs 56 in the four sand-paper storage tanks 52 in a one-to-one correspondence manner, the distance between the four-head polishing head 200 and the sand-placing discs 56 is 5mm, the robot 100 sends a sand paper sticking instruction to the sand-ejecting cylinder 54, the sand-placing discs 56 are driven by the corresponding sand-ejecting cylinder 54 to synchronously ascend to the sand-paper sticking position for sand paper sticking, after the sticking is completed, the robot 100 moves downwards, and redundant sand paper is removed by the sand sticking prevention mechanism;
s5, sand sticking paper detection: after the sand paper is pasted, the robot 100 moves to the sand paper detection device 7 again for sand paper detection, and if the detection sensor 71 detects that any one of the four sanding heads 200 is not pasted with sand paper, the step of pasting the sand paper is returned to the step S4; if the sand paper on the four-head grinding head is detected to be completely stuck, the subsequent process is carried out.
In tearing sand paper mechanism 6, four contact pins 67 that tear sand subassembly carry out coordinated control through the cylinder, and the tapering of contact pin 67 front end is according to the marginal angle of abrasive disc and the laminating degree that abrasive paper and abrasive disc magic were pasted to carry out the nonstandard order through the test many times, thereby guarantee to tear the success rate of abrasive paper and reach 100%.
In the sand-binding paper mechanism 5, the orientation of the 4 sand-placing discs of each group of sand paper placing assembly is designed according to the disc distance of the sand discs of the four-head sanding head, each sand-placing disc 56 moves up and down through the sand-pushing cylinder 54 and the guide column 53, when the robot moves to a sand-binding station, namely the four-head sanding head 200 is perpendicular to the position of the corresponding sand paper placing assembly, the sand discs of the four-head sanding head 200 correspond to the 4 sand-placing discs 56 one by one, and the distance between the sand discs of the four-head sanding head 200 and the sand-placing discs is about 5 mm.
The sand changing process of the automatic sand changing table is an extension of a CS-CP01 sand changing table, can synchronously carry out automatic detection, automatic sand tearing and automatic sand sticking of abrasive paper aiming at four-head grinding heads, has the detection accuracy rate of 99 percent, can detect the freshness and the abrasion degree of the abrasive paper, and further judges whether the step of changing the abrasive paper is needed. The abrasive paper needs to be pasted after being torn, the automatic sand changing process of the sand changing table supports 4 heads of synchronous abrasive paper pasting, the programming track of the ASD special robot for abrasive paper pasting and the anti-sticking mechanism are combined, the abrasive paper bonding accuracy can be guaranteed to reach 100%, the mechanism for automatically sticking the abrasive paper on the market generally has the abrasive paper sticking phenomenon, the condition of sticking 2-3 pieces of abrasive paper at one time is common, the adhesion of the abrasive paper with a single head is realized, and the function and the effectiveness cannot be compared with the sand changing process of the automatic sand changing table.
In conclusion, the sand replacing process of the automatic sand replacing table can synchronously perform automatic detection, automatic sand tearing and automatic sand adhering on sand paper aiming at the four-head grinding head, and has high detection accuracy.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (9)
1. A sand changing process of an automatic sand changing table comprises a base, a box body, a dustproof cover, a sand paper sticking mechanism, a sand paper detection device, a sand paper tearing mechanism and a sand receiving box, wherein the box body is arranged on the base; the dustproof cover is connected to the top end of the box body in an openable and closable manner; the sand paper detection device and the sand paper sticking mechanism are respectively arranged on the sand sticking mounting seat; the top end of the front side plate of the box body is provided with a sand pulling mounting seat, and the sand pulling mounting seat is positioned right in front of the sand sticking mounting seat; the sand tearing mechanism is arranged on the sand tearing mounting seat, and the sand receiving box is detachably arranged on the front side of the sand tearing mounting seat; the sand paper detection device comprises four groups of sensors which are sequentially arranged from left to right, and each group of sensors comprises a detection sensor and a color sensor; the sand replacement process is characterized by comprising the following steps:
s1, detection step: the automatic sand changing table waits for receiving sand paper changing signals of the robot, after the sand paper changing signals are received, the dustproof cover is synchronously opened in the running process of the robot, the robot clamps the four-head polishing head to the sand paper detection device for sand paper detection, the color sensors of the four groups of sensors correspondingly judge whether the sand paper on the four-head polishing head is old or not, after the sand paper is judged, the signals are transmitted to the robot through bus communication for the next process, and if the sand paper does not need to be torn after the sand paper is judged, the robot automatically runs to the next process; if the abrasive paper needs to be replaced after judgment, the robot operates the four-head polishing head to the abrasive paper tearing mechanism to perform 4-head synchronous abrasive paper tearing actions;
s2, tearing the abrasive paper: the robot operates the four-head polishing head to the sand paper tearing mechanism to tear sand paper; the sand tearing mechanism comprises four sand tearing assemblies which are sequentially arranged from left to right, each sand tearing assembly comprises an installation sealing plate, a sand tearing pressing plate, a sand tearing cylinder, a sand tearing push plate, a contact pin installation block and a pressing cylinder, the installation sealing plate is fixed on the sand tearing installation seat, the sand tearing pressing plate is arranged above the rear part of the installation sealing plate, and the sand tearing push plate is arranged on the installation sealing plate; the sand pulling cylinder and the pressing cylinder are respectively fixed at the bottom of the mounting sealing plate; the sand pulling cylinder is connected with the sand pulling push plate and drives the sand pulling push plate to move forwards and backwards; the contact pin mounting block is arranged between the mounting sealing plate and the sand pulling pressing plate and is connected with the sand pulling push plate; the front end of the contact pin mounting block is provided with a plurality of contact pins side by side, and the front ends of the contact pins are conical; the pressing cylinder is connected with the contact pin mounting block and drives the contact pin mounting block to move up and down; the contact pins of the four sand tearing assemblies are driven by the sand tearing air cylinders and the pressing air cylinders to be correspondingly inserted into and pressed on the bonding surfaces of the sand discs and the sand paper of the four-head grinding head one by one, and the robot controls the four-head grinding head to rotate clockwise at a slow speed in the process of tearing off the sand paper, so that the sand paper is torn off in an auxiliary manner;
s3, tearing the abrasive paper: after the abrasive paper is torn off, the robot operates to the abrasive paper detection device again to perform abrasive paper detection, and if the detection sensor detects that the abrasive paper at any one end of the four-head polishing head is not completely torn off, the step S2 is returned to execute the abrasive paper tearing step; if the abrasive paper on the four-head polishing head is detected to be completely torn off, the process of adhering the abrasive paper is executed;
s4, a sand paper sticking step: the robot moves the four-head polishing head to the sand paper sticking mechanism to perform sand paper sticking operation, the sand paper sticking mechanism comprises two groups of sand paper placing assemblies which are arranged in tandem, each group of sand paper placing assemblies comprises a sand paper separating and mounting plate and four sand paper storage grooves, and the sand paper separating and mounting plate is embedded into the top end of the sand paper sticking mounting seat; the four sand paper storage tanks are sequentially arranged on the sand paper separation mounting plate from left to right, a sand discharge disc is arranged in each sand paper storage tank, a sand ejecting cylinder is arranged at the bottom of each sand paper storage tank, and the sand ejecting cylinder drives the sand discharge disc to move up and down; when the robot runs to the sand paper sticking mechanism, the four-head polishing heads are located right above the sand paper placing discs in the four sand paper storage grooves in a one-to-one correspondence mode, the distance between the four-head polishing heads and the sand paper placing discs is 5mm, the robot sends a sand paper sticking instruction to the sand paper ejecting cylinder, the sand paper placing discs are driven by the corresponding sand ejecting cylinders to synchronously ascend to a sand paper sticking position for sticking the sand paper, the robot moves downwards after sticking is completed, and redundant sand paper is removed by the sand sticking preventing mechanism;
s5, sand sticking paper detection: after the sand paper is pasted, the robot operates to the sand paper detection device again to detect the sand paper, and if the detection sensor detects that any one of the four grinding heads is not pasted with the sand paper, the step S4 is returned to execute the step of pasting the sand paper; if the sand paper on the four-head grinding head is detected to be completely stuck, the subsequent process is carried out.
2. The sand changing process of the automatic sand changing table according to claim 1, wherein four vertically arranged guide columns are uniformly distributed in each sand paper storage groove; a sand ejecting plate is horizontally arranged in each sand paper storage tank, the sand ejecting plate is positioned among the four guide columns, and a sand placing disc in each sand paper storage tank is positioned right above the corresponding sand ejecting plate; the sand ejecting cylinder is connected with the corresponding sand ejecting plate; the sand ejection cylinder drives the sand ejection plate to move up and down, and the sand ejection plate drives the sand discharge disc to move up and down in the middle of the four guide columns; and the four sand ejection air cylinders corresponding to each group of sand paper placing assemblies synchronously move.
3. The sand changing process of the automatic sand changing table according to claim 2, wherein back fluff sand paper with the same mesh number is placed in the four sand paper storage grooves of each group of sand paper placing assemblies;
and the mesh number of the sandpaper placed in the four sandpaper storage grooves of one group of the sandpaper placement assemblies is different from the mesh number of the sandpaper placed in the four sandpaper storage grooves of the other group of the sandpaper placement assemblies.
4. The sand changing process of the automatic sand changing table according to claim 1, wherein a throttle valve is arranged on the sand pulling cylinder, and the sand pulling cylinders of the four sand pulling assemblies move synchronously; and the pressing air cylinders of the four sand tearing assemblies move synchronously.
5. A process of changing sand in an automated sand table according to claim 1, wherein the sandpaper testing device is disposed between the two sets of sandpaper placement assemblies.
6. The sand changing process of the automatic sand changing table according to claim 1, wherein handles are respectively arranged on the left side and the right side of the sand receiving box.
7. The sand changing process of the automatic sand changing table according to claim 1, wherein a magnetic valve mounting seat is arranged in the base, and an electromagnetic valve group is arranged on the magnetic valve mounting seat.
8. The sand changing process of the automatic sand changing table according to claim 1, wherein all the sand ejecting cylinders of the sand-sticking paper mechanism are positioned in the box body, and a split door is arranged on the front side of the box body.
9. The sand changing process of the automatic sand changing table according to claim 1, wherein the rear end of the dust cover is connected to the rear part of the top end of the box body through a hinge, a flip cylinder is arranged in the box body, and an output shaft of the flip cylinder is connected with the dust cover through a fisheye joint and a locking nut.
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| CN110877289B (en) * | 2019-12-12 | 2021-06-22 | 上海发那科机器人有限公司 | Automatic tear abrasive paper device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0584660A (en) * | 1991-06-28 | 1993-04-06 | Yamaha Corp | Automatic changer for sand paper |
| JPH05154756A (en) * | 1991-12-02 | 1993-06-22 | Yokohama Rubber Co Ltd:The | Polishing device |
| US6790135B2 (en) * | 2002-10-28 | 2004-09-14 | Wen Liang Yang | Finishing machine having a sandpaper positioning function |
| CN105690243A (en) * | 2014-11-28 | 2016-06-22 | 富泰华工业（深圳）有限公司 | Automatic polishing device |
| CN206578655U (en) * | 2016-07-19 | 2017-10-24 | 兴科电子科技有限公司 | A kind of automatically grinding streamline of mobile phone shell |
| CN207508990U (en) * | 2017-05-16 | 2018-06-19 | 四川纽赛特工业机器人制造有限公司 | It is a kind of to move sand paper machine structure certainly |
| CN107214620B (en) * | 2017-06-07 | 2023-07-18 | 禹奕智能科技（上海）有限公司 | A intelligent abrasive paper device that takes off for robot polishing |
| CN208051693U (en) * | 2017-11-30 | 2018-11-06 | 苏州富强科技有限公司 | A kind of sand paper mouth substituting device for CNC production lines |
| CN208262525U (en) * | 2018-02-05 | 2018-12-21 | 东莞市山克斯智能科技有限公司 | A kind of robot polishing system |
| CN208342461U (en) * | 2018-05-16 | 2019-01-08 | 固安跃盛自动化设备有限公司 | A kind of sand paper grinding device of automatic replacement sand paper |
-
2019
- 2019-03-28 CN CN201910241126.0A patent/CN109848842B/en active Active
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| CN109848842A (en) | 2019-06-07 |
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